Hello,
If I dont say stupidity, the 3-point method for learning user frame is calculated with a tcp. How can I know the number of the TCP used to learn the user frame?
Thanks for answers
Hello,
If I dont say stupidity, the 3-point method for learning user frame is calculated with a tcp. How can I know the number of the TCP used to learn the user frame?
Thanks for answers
SHIFT + COORD button, your active tool, which is the one you are jogging in, is used to teach Uframe three point method.
I think what Jsapet is asking, is that if you walked up to a robot, and it had a frame that was taught with a 3 point method, is there a way to tell what TCP was used to teach that frame.
In my experience, the answer is no. It looks like the points are just stored as Cartesian points, and when you hit 'move to' it uses whatever tool is currently active to do the move, in world.
So if you were to drive to the origin, with a tool, read the coords in user, if it is 0,0,0, then it was very likely the one used to teach the uframe.
Hi,
Yes Nation you are right. With motoman the UFRAME is stored with a TCP Number.
Thanks
So if you were to drive to the origin, with a tool, read the coords in user, if it is 0,0,0, then it was very likely the one used to teach the uframe.
This is the way I have always done it.
MiRobotGuy